The present disclosure relates to a vehicle scheduling method, apparatus, and system. The method includes: repeatedly performing following steps according to a preset scheduling period: receiving travelling information acquired by a target vehicle; searching, according to a global path of the target vehicle, a topological map for a target directional path matching the travelling information; determining a right-of-way node sequence of the target vehicle according to the target directional path and a coverage range of the target vehicle, where the right-of-way node sequence includes multiple right-of-way nodes, and the right-of-way nodes are nodes on the topological map; and determining right-of-way nodes matching the global path in the right-of-way node sequence as target right-of-way nodes in a case that each of the right-of-way nodes in the right-of-way node sequence is in a vacant state, and sending the target right-of-way nodes to the target vehicle, so that the target vehicle travels according to a path indicated by the target right-of-way nodes.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for monitoring a dedicated roadway the runs in parallel to a railroad. In some implementations, a system includes a central server, an interface, and sensors. The interface receives data from a railroad system that manages the railroad parallel to the dedicated roadway. The sensors are positioned in a fixed location relative to the dedicated roadway. Each sensor can detect vehicles in a first field of view on the dedicated roadway. For each detected vehicle, each sensor can generate sensor data based on the detected vehicle in the dedicated roadway and the data received at the interface. Each sensor can generate observational data and instruct the detected vehicle to switch to an enhanced processing mode. Each sensor can determine an action for the detected vehicle to take based on the generated observational data.

An image processing system includes: an image acquisition unit configured to acquire image data generated by an imaging device that captures an optical image having a low-distortion region and a high-distortion region; a first image recognition unit configured to perform image recognition on image data of at least a partial region in the image data acquired by the image acquisition unit to output a first image recognition result; a second image recognition unit configured to perform image recognition on image data of a region wider than the partial region in the image data acquired by the image acquisition unit to output a second image recognition result; and an integration processing unit configured to output an image recognition result integrated on the basis of the first image recognition result and the second image recognition result.

An image processing system includes: an image acquisition unit configured to acquire image data generated by an imaging device that captures an optical image having a low-distortion region and a high-distortion region; a first image recognition unit configured to perform image recognition on image data of at least a partial region in the image data acquired by the image acquisition unit to output a first image recognition result; a second image recognition unit configured to perform image recognition on image data of a region wider than the partial region in the image data acquired by the image acquisition unit to output a second image recognition result; and an integration processing unit configured to output an image recognition result integrated on the basis of the first image recognition result and the second image recognition result.

Systems and methods for generating a trajectory of a vehicle are disclosed. The methods include generating a spatial domain speed profile for a path represented as a sequence of poses of a vehicle between a first point and a second point. Generation of the spatial domain speed profile uses a longitudinal problem while excluding a derate interval on the path when speed of the vehicle cannot exceed a threshold. The methods further include generating a derate profile using the spatial domain speed profile and the derate interval, and transforming the derate interval to a temporal derate interval. The temporal derate interval may include time steps at which the speed of the vehicle cannot exceed the threshold while traversing the path, and may be used as an input to the longitudinal problem for generating a trajectory of the vehicle for navigating between the first point and the second point.

An ADK is attachable to and removable from a VP and issues an instruction for autonomous driving to the VP. The VP includes a steering system for steering of the VP. (An ADS of) the ADK includes a compute assembly and a communication module configured to communicate with the VP. The compute assembly obtains from the VP, a torque value relating to a steering system 33 through the communication module and transmits to the VP, a wheel steer angle command indicating the wheel steer angle in accordance with a driving plan for autonomous driving and the obtained torque value. Even when a user intervenes with an operation while the attachable and removable ADK that issues the instruction for autonomous driving controls the VP, stable steering can be achieved.

Among other things, a vehicle is caused to drive autonomously through a road network toward a defined goal position, and, if no potential stopping place that is in the vicinity of the goal position and is acceptable and feasible can be identified, a human operator not onboard the vehicle is enabled to drive the vehicle to a stopping place.

Among other things, a vehicle is caused to drive autonomously through a road network toward a defined goal position, and, if no potential stopping place that is in the vicinity of the goal position and is acceptable and feasible can be identified, a human operator not onboard the vehicle is enabled to drive the vehicle to a stopping place.

A travel controller includes: an information acquisition part configured to acquire braking state information of a braking device brake state, travel road information, and an ACC-ECU configured to perform travel, based on a set vehicle speed, and follow-up travel control under which the subject vehicle follows another vehicle traveling ahead thereof. After canceling activation of the travel control during the activation of the travel control, when the information acquisition part acquires travel road information showing that a travel road on which the subject vehicle is traveling is not a downhill road any longer, even if a braking performance index based on the braking state information acquired by the information acquisition part is not increased with respect to a second reference threshold, then the ACC-ECU allows the travel control activation to be resumed.

In a distance detection apparatus for a vehicle, a distance detection unit is configured to detect object distances to an object around the vehicle by transmitting and receiving radar waves. A detection distance estimation unit is configured to estimate an estimated detection distance having a maximum value of the object distance, based on the object distances and intensities of the radar waves reflected by the object. A lost-track distance estimation unit is configured to estimate, as a lost-track distance, the object distance at a timing of transition from a detected state where the object is recognized to a non-detected state where the object is not recognized, based on a result of detection by the distance detection unit. A performance determination unit is configured to determine a degradation of detection performance of the distance detection unit based on the estimated detection distance and the lost-track distance.